Implement weight transfer monitoring and wing control

ABSTRACT

A work machine with a first tire having a first tire pressure sensor configured to identify a first tire pressure, a load sensor coupled to the work machine and configured to measure an actual load weight, and a controller in communication with the first tire pressure sensor and the load sensor. Wherein, the controller identifies a tire pressure value with the first tire pressure sensor and the controller determines a current load weight threshold from a plurality of load weight thresholds with the tire pressure value.

FIELD OF THE DISCLOSURE

The present disclosure relates to monitoring a load on an implement, andmore particularly to monitoring a load on an implement to determine whena maximum tool depth is reached.

BACKGROUND OF THE DISCLOSURE

In the agricultural industry, wide implements such as field cultivatorsand the like include a main frame and adjacent outrigger or wing framesthat are hinged or pivotably coupled thereto. Often, ground workingtools are coupled to the frame sections and are positioned to interactwith an underlying surface. Further, ground engaging mechanisms such aswheels are coupled to the frames to reposition the frame relative to theunderlying surface. In this configuration, the distance between thewheels and the frame sets a working tool depth at which the groundworking tools interact with the underlying surface. Often, the workingtool depth is variable to accommodate different types of implements,different field conditions, and the like.

The wing frames are often hydraulically coupled to the main frame andconfigured to pivot between a stored position and a ground engagingposition. When the wing frames are in the ground engaging position, theuser sets the working tool depth either by manually manipulating thepositioning of the wheels or by utilizing a user interface on the workmachine to select a working tool depth. Regardless of the method used toset the working tool depth, the conventional implement typically altersworking tool depth by altering the position of the wheels relative tothe respective frame component. Accordingly, the conventional implementassumes the wheels or other ground engaging mechanisms are in contactwith the underlying surface when determining working tool depth.

In the conventional implement system, the user may select a tool depththat is too deep for the implement based on the field conditions and theworking tool that is engaging the field. For example, the user may set adeep working tool depth but the underlying surface may be dry and hard.In this situation, the working tools may not have sufficient weightpressing thereon to achieve the desired working tool depth. Accordingly,the conventional implement does not identify to the user when a workingtool depth is implemented that is greater than the working conditionsallow.

SUMMARY

One embodiment is an implement with a ground engaging mechanism, a loadidentifying sensor that identifies a load value acting on the groundengaging mechanism, and a controller in communication with the loadidentifying sensor. Wherein, when the load value is not within a loadthreshold, the controller initiates a response.

One example of this embodiment has a hydraulic system, wherein the loadidentifying sensor is a pressure sensor that identifies a pressure ofthe hydraulic system to determine the load value.

In another example, the ground engaging mechanism is a tire and the loadidentifying sensor is a tire pressure sensor that is monitored by thecontroller to determine the load value.

In yet another example, the ground engaging mechanism is a tire and theload identifying sensor is a tire deflection sensor that is monitored bythe controller to determine the load value.

In one example of this embodiment, the load identifying sensor is straingauge positioned to identify a load on the ground engaging mechanism,wherein the strain gauge is monitored by the controller to determine theload value.

In another example, the response is a signal to a user through a userinterface.

Yet another example of this embodiment has a hydraulic system thatrepositions a first frame member relative to a second frame member, thehydraulic system in communication with the controller, wherein theresponse is a repositioning of the first frame member relative to thesecond frame member with the hydraulic system.

Another example includes a plurality of ground working mechanismscoupled to the implement, wherein the response is raising one or more ofthe ground working mechanism.

Another embodiment may be a system for monitoring engagement of animplement with an underlying surface that has a first frame segment, asecond frame segment pivotally coupled to the first frame segment, apositioning system coupled to the first frame segment and the secondframe segment, the positioning system configured to reposition thesecond frame segment relative to the first frame segment, a load sensorthat identifies a load value acting on the second frame segment, and acontroller in communication with the load sensor and the positioningsystem. Wherein, when the load value is not within a load threshold, thecontroller initiates a response.

In one example of this embodiment, the positioning system is a hydraulicsystem and the load value is a hydraulic pressure.

In another example the response initiated by the controller includesmanipulating the orientation of the second segment relative to the firstsegment with the positioning system. One aspect of this example includesmanipulating the orientation of the second segment relative to the firstsegment until the load value is within the load threshold.

Yet another example of this embodiment has a ground engaging mechanismcoupled to the second frame segment, wherein the load sensor is coupledto the ground engaging mechanism.

Another example of this embodiment includes a plurality of groundworking mechanisms, wherein the response initiated by the controllerincludes raising at least one ground working mechanism.

Yet another example has a disc assembly having an angle, wherein theresponse initiated by the controller includes changing the angle of thedisc assembly.

In another example, the response initiated by the controller includesproviding an indication with a user interface.

Yet another embodiment of the present disclosure includes a method ofcontrolling the height of an implement over an underlying surface byproviding a ground engaging mechanism, a load identifying sensor, and acontroller in communication with the load identifying sensor, storing,in the controller, a load value threshold, monitoring, with thecontroller using the load identifying sensor, a load acting on theground engaging mechanism, and initiating a response, with thecontroller, when the load acting on the ground engaging mechanism is notwithin the load value threshold.

One example of this embodiment includes controlling the implement tooldepth, with the controller, and reducing the implement tool depth duringthe initiating the response step.

Yet another example includes providing a first ground working mechanism,a second ground working mechanism, and a user interface, storing a userpreference, in the controller through input on the user interface,identifying a priority sequence for the first ground working mechanismand the second ground working mechanism, altering the orientation offirst ground working mechanism and the second ground working mechanismin the priority sequence identified by the user preference during theinitiating the response step.

Another example includes providing a first frame segment and a secondframe segment pivotally coupled to one another with a hydraulic system,and applying increased hydraulic pressure, with the controller, to thehydraulic system to increase the torsional force applied between thefirst wing segment and the second wing segment as part of the initiatingthe response step.

BRIEF DESCRIPTION OF THE DRAWINGS

The above-mentioned aspects of the present disclosure and the manner ofobtaining them will become more apparent and the disclosure itself willbe better understood by reference to the following description of theembodiments of the disclosure, taken in conjunction with theaccompanying drawings, wherein:

FIG. 1 is an elevated view of one embodiment of an agriculturalimplement;

FIG. 2 is a top view of another embodiment of an agricultural implement;

FIG. 3 is a front diagrammatical view of the implement of FIG. 1;

FIG. 4 is a diagram of a control system of the present disclosure;

FIG. 5 is a flow chart illustrating one embodiment of a control logicutilizing tire sensors;

FIG. 6 is a flow chart illustrating another embodiment of a controllogic utilizing wheel load sensors; and

FIG. 7 is a flow chart illustrating another embodiment of a controllogic utilizing actuator sensors.

Corresponding reference numerals are used to indicate correspondingparts throughout the several views.

DETAILED DESCRIPTION

The embodiments of the present disclosure described below are notintended to be exhaustive or to limit the disclosure to the preciseforms in the following detailed description. Rather, the embodiments arechosen and described so that others skilled in the art may appreciateand understand the principles and practices of the present disclosure.

Referring to FIG. 1, one non-exclusive example of an agriculturalimplement 100 is shown. The implement 100 is designed to couple to awork machine and perform a work function. For example, the implement mayinclude work tools that penetrate into soil for many different reasonsknown to those familiar with the art of this disclosure. The implement100 may be attached to a work machine or tractor (not shown) by a hitchassembly 112 such as a three-point hitch or a drawbar attachment. Thehitch assembly 112 includes a hitch frame member 114 that extendslongitudinally in a direction of travel for coupling to the work machineor tractor.

The agricultural implement 100 may include a transversely-extendingframe that forms multiple frame sections. In FIG. 1, for example, theimplement 100 includes a main or center frame 102. The main frame 102 iscoupled to the hitch assembly 112 as shown. A first frame section orfirst inner frame 104 is disposed to one side of the main frame 102, anda second frame section or second inner frame 106 is disposed to anopposite side thereof

While only a first and second frame section are shown coupled to themain frame, this disclosure also considers a third frame section coupledto an outside portion of the first frame section 104 and a fourth framesection coupled to an outside portion of the second frame section 106.Each frame section may be pivotably coupled to the frame sectionadjacent thereto. The first frame section 104, for example, may bepivotably coupled to the main frame 102. Similarly, the second framesection 106 may also be pivotably coupled to the main frame 102.

The implement 100 may be supported by a plurality of wheels. Forexample, the main frame 102 may be supported by a first pair of wheels118 and a second pair of wheels 120. The first frame section 104 may besupported by a third pair of wheels 130 and the second frame section 106may be supported by a fourth pair of wheels 136. While each section isshown being supported by a different pair of wheels, this is only shownin the illustrated embodiment to be one non-exclusive example. In otherembodiments, there may be only a single wheel supporting each framesection. In a different embodiment, there may be more than a pair ofwheels supporting each frame section. Moreover, the implement 100 mayinclude one or more front wheels in addition to those described above.Further still, there may be back wheels disposed near the rear of theimplement for additional support.

In the illustrated embodiment of FIG. 1, the agricultural implement 100may include a plurality of actuators for controlling movement of theframe. Each actuator may be a hydraulic actuator, electric actuator, apneumatic actuator, an electric motor, or any other known actuator ordevice. Moreover, each actuator may include an outer body or cylinder inwhich a rod or shaft and piston moves between an extended position and aretracted position. Further, one or more sensors may be positionedthroughout the implement to identify the position of one or more of theactuators.

In FIG. 1, the main frame 102 includes a first actuator 122 and a secondactuator 124. The first pair of wheels 118 may be coupled to the mainframe 102 via a rock shaft that may be hydraulically actuated by thefirst actuator 122. The second pair of wheels 120 may be coupled to themain frame 102 via another rock shaft that may be hydraulically actuatedby the second actuator 124. The actuators can raise or lower the mainframe 102 relative to the wheels 118, 120. Further, one or more sensorsmay be coupled to the actuators, frame, or wheels to determine theheight of the main frame 102 relative to the wheels 118, 120 or thepressure in the respective actuator 122, 124.

In FIG. 1, the main frame 102 includes a plurality of main frame members126. A plurality of ground working tools 152, 154, 156, 158 may be atleast partially coupled to the main frame members 126 for engaging anunderlying surface or soil upon which the implement 100 travels.Similarly, the first frame section 104 includes a plurality of firstframe members 128 and the second frame section 106 includes a pluralityof second frame members 134. Each of these frame members may be at leastpartially coupled to one or more of the plurality of ground workingtools 152, 154, 156, 158.

Also shown in FIG. 1 is a first side actuator 160 and a second sideactuator 162. The first side actuator 160 may be pivotally coupledbetween the main frame section 102 and the first frame section 104.Similarly, the second side actuator 162 may be pivotally coupled betweenthe main frame section 102 and the second frame section 106. Morespecifically, the main frame section 102 may have a support tower 164providing an elevated coupling location for the first and secondactuators 160, 162 relative to the coupling location on thecorresponding first and second frame sections 104, 106.

In the above-described configuration, the first side actuator 160 may beselectively repositioned to provide varying levels of force on thecorresponding first frame section 104 relative to the main frame section102. More specifically, the first frame section 104 may be pivotablerelative to the main frame section 102 about a first frame axis 192.Accordingly, repositioning or varying the linear displacement of thefirst side actuator 160 provides a torsional force on the first framesection 104 about the first frame axis 192.

Similarly, the second side actuator 162 may be selectively resized toprovide varying levels of force on the corresponding second framesection 106. More specifically, the second frame section 106 may pivotrelative to the main frame section 102 about a second frame axis 166.Accordingly, repositioning or varying the linear displacement of thesecond side actuator 162 provides a torsional force on the second framesection 106 about the second frame axis 166. In one embodiment, eachactuator 160, 162 may also have a corresponding sensor identifying thelinear displacement of each actuator 160, 162. Further still, in anotherembodiment each actuator 160, 162 may have a pressure sensor coupledthereto to identify the load on the respective actuator 160, 162.

While the first and second side actuators 160, 162 are shown anddescribed towards the front direction 168 of the implement 100, thisdisclosure contemplates other locations for the actuators 160, 162.Further still, other embodiments may utilize more actuators than justthe first and second side actuators 160, 162 to provide the torsionalforces on the corresponding frame sections 104, 106. In one embodiment,additional actuators are located at a rear portion of the implement andspaced from the actuators 160, 162 in a direction opposite the frontdirection 168. In this embodiment, two actuators may apply a torsionalforce to the corresponding frame sections 104, 106 instead of just one.Further still, any number of actuators can be used per side to meet theneeds of the particular implement application. Accordingly, thisdisclosure is not limited to any particular number of side actuators.

In yet another embodiment, additional frame sections may be pivotallycoupled to the frame sections 104, 106 utilizing actuators similar tothe first and second side actuators 160, 162 to adjust the correspondingrelationship of the frame members. More specifically at least one sideactuator may be positioned between each additional frame sectionsimilarly as described above for the first and second frame sections104, 106.

In the embodiment shown in FIG. 1, rear ground working tools orattachments 170, 172, 174 are shown coupled to the corresponding framesections 102, 104, 106. More specifically, a main rear attachment 170 iscoupled to a rear portion of the main frame section 102, a first sectionrear attachment 172 is coupled to a rear portion of the first framesection 104, and a second section rear attachment 174 is coupled to arear portion of the second frame section 106. The rear attachments 170,172, 174 may be selectively coupled to the corresponding frame sections102, 104, 106 or be configured to selectively engage the underlyingsurface. In one aspect of this embodiment, the rear attachments 170,172, 174 may have an actuator and a position sensor or the like coupledthereto. In this configuration, the rear attachments 170, 172, 174 maybe selectively raised off the underlying surface or pressed into theunderlying surface. Further, the orientation and existence of the rearattachments 170, 172, 174, may alter the forces experienced by thecorresponding frame section 102, 104, 106.

While the rear attachments 170, 172, 174 shown in FIG. 1 are flat-barroller type rear attachments, this disclosure is not limited to such aconfiguration. Any rear attachment is considered herein, including, butnot limited to harrow-type rear attachments as well.

In yet another aspect of the embodiment illustrated in FIG. 1, afore-aft actuator 176 may be coupled to the main frame section 102. Morespecifically, the fore-aft actuator 176 may be coupled to a portion ofthe support tower 164 on a first end and to the main frame section 102at a second end. The main frame section 102 and the corresponding firstand second frame sections 104, 106 may be pivotally coupled to the hitchassembly 112 or other portion of the implement 100. More specifically,the frame sections 102, 104, 106 may pivot about a transverse axis 178in a fore direction 180 or an aft direction 182. In this non-limitingexample, the fore-aft actuator 176 may be selectively repositionable toalter the orientation of the frame sections 102, 104, 106 in the foredirection 180 or the aft direction 182 about the transverse axis 178.Further, the fore-aft actuator 176 may have a position sensor, pressuresensor, or the like coupled thereto that indicates the fore-aft positionor load of the frame sections 102, 104, 106.

In yet another aspect of the embodiment shown in FIG. 1, a tool axis184, 186, 188, 190 may be defined through each of the respective worktools 152, 154, 156, 158. Each tool axis 184, 186, 188, 190 may beadjustable relative to the transverse axis 178 to provide a differenttool angle. By varying the tool angle of the work tools 152, 154, 156,158, the implement can better accommodate different ground conditions.Accordingly, actuators and sensors or the like may also be coupled tothe work tools 152, 154, 156, 158 to provide varying work tool angles.

While FIG. 1 represents an illustrated embodiment of an agriculturalimplement with three frame sections, this disclosure is not limited tothis embodiment. Other embodiments may include only one section.Alternatively, there may be more than three frame sections in furtherembodiments. Thus, this disclosure is not limited to any number of framesections, and the teachings herein may be applicable to any implementregardless of the number of frame sections it contains.

Referring now to FIG. 2, another embodiment of an implement 200 isshown. The implement 200 may have many similar features of the implement100 described above for FIG. 1. More specifically, the implement 200 mayhave a hitch assembly 112 and a hitch frame 114. The implement may haveat least a main frame section 202 and a first and second frame section204, 206 coupled thereto on either side. Further, a first and secondpair of wheels 218, 220 may be pivotally coupled to the implement 200via a first and second actuator 222, 224. Similarly, front wheels 278may also be coupled to implement 200. Further, the implement 200 mayalso have a first and second side actuator 160, 162 configured to pivotthe respective frame section 204, 206 about the corresponding frame axis192, 166 as described above for FIG. 1. Further still, the implement 200may also have a fore-aft actuator 176 configured to rotate the mainframe about the transverse axis 178 as described above.

FIG. 2 also shows a plurality of front work tools 203 pivotally coupledto the corresponding frame sections 202, 204, 206. In the embodimentshown in FIG. 2, the plurality of front work tools 203 may be pivotallycoupled to the corresponding frame sections 202, 204, 206 through one ormore front work tool actuators 208. Similar to FIG. 1, the implement 200of FIG. 2 may also define tool axis 210, 212 that may be selectivelyoffset from the transverse axis 178 at a tool angle 214, 216. In oneembodiment, the front tool actuator 208 may be repositionable to alterthe tool angle 214, 216 of the plurality of front work tools 203. In yetanother aspect of this example, one or more sensors may be coupled tothe implement to determine the orientation of the plurality of frontwork tools 203.

The implement 200 may also have a plurality of rear work tools 226 thatare different from the plurality of front work tools 203. In thisembodiment, the fore-aft actuator 176 may control the tool depth of theplurality of front work tools 203 relative to the plurality of rear worktools 226. More specifically, while the first and second actuators 222,224 may selectively reposition the corresponding first and second pairsof wheels 218, 220 relative to the frame, the fore-aft actuator 176 maycontrol the fore-aft rotation 180, 182 of the implement 200 relative tothe transverse axis 178. In other words, the first and second actuators222, 224 may be repositionable along with the fore-aft actuator 176 toestablish a desired tool depth for both the plurality of front worktools 203 and the plurality of rear work tools 226.

In one non-exclusive example, if the tool depth of the plurality offront work tools 203 is desired to be lower than the tool depth of theplurality of rear work tools 226, then the fore-aft actuator 176 mayreposition to rotate the implement in the fore direction 180.Repositioning the implement in the fore direction may increase the tooldepth of the plurality of front work tools 203 relative to the pluralityof rear work tools 226. Alternatively, if the tool depth of theplurality of front work tools 203 is desired to be higher than the tooldepth of the plurality of rear work tools 226, then the fore-aftactuator 176 may reposition to rotate the implement in the aft direction182. Biasing the implement in the aft direction 182 decreases the tooldepth of the plurality of front work tools 203 relative to the pluralityof rear work tools 226.

The implement 200 may also have a rear attachment 270 removably coupledto each of the frame sections 202, 204, 206. The rear attachment 270 maybe a harrow-type attachment that is removably coupled to the rear end ofthe corresponding frame sections 202, 204, 206. In one embodiment, therear attachment 270 may also have an actuator and a position sensor thatalters the amount of down pressure exerted by the rear attachment 270 onthe underlying surface. Further still, the actuator of the rearattachments 270 may raise the attachment off the underlying surface aswell.

Altering the position of any one of the components described above mayalso affect the positioning of the other components of the implement 100or 200. More specifically, as described above for the implement 200 ofFIG. 2, repositioning the fore-aft actuator 176 rotates the implement200 in the fore or aft direction 180, 182, thereby changing the tooldepth of the various tools coupled thereto. In yet another example, theexistence and orientation of a rear attachment 170, 172, 174, 270 alsoaffects the down force experienced by the rear portion of the implement,thereby affecting tool depth among other things. Further still, thedepth and angular orientation of the work tools 152, 154, 156, 158, 203can also affect the remaining components of the implement 100, 200requiring the first and second side actuators 160, 162 to reposition thecorresponding frame sections to ensure even distribution of forcethroughout the implement 100, 200 as it travels along the underlyingsurface.

Referring now to FIG. 3, one non-exclusive example of this disclosure isillustrated. In FIG. 3, a plurality of sensors are shown positionedthroughout the implement 300. The implement 300 may be substantiallysimilar to the implement 100 or 200 shown and described above. Morespecifically, the implement 300 may have a center frame section 102pivotally coupled to a first and second frame section 104, 106 asdescribed above. Further, a first and second side actuator 160, 162 maybe coupled to a hydraulic, pneumatic, electrical or the like system toselectively rotate the corresponding first and second frame sections104, 106 relative to the central frame section 102. Further, theimplement 300 may also have a first, second, third, and fourth pair ofwheels 118, 120, 130, 136 similar to those described above for theimplement 100.

The implement 300 may have a plurality of sensors positioned atdifferent location throughout the implement. The sensors may bepositioned to identify a forces acting on the corresponding components.More specifically, a tire sensor 302 may be positioned in each of thetires for each pair of wheels 118, 120, 130, 136. The tire sensor 302may identify the tire pressure or deflection within the correspondingtire. In one non-exclusive example, the tire sensor 302 may be a sensorembedded in the tire that identifies the tire pressure, deflection, orother property of the tire to a controller 402 (see FIG. 4).Alternatively, the tire sensor 302 could be coupled to a rim of thecorresponding wheel. Further still, the tire sensor 302 could be mountedoutside of the cavity created between the tire and the correspondingwheel. Accordingly, this disclosure considers any type of tire sensor302 known in the art and capable of determining a tire pressure ordeflection.

In one example of this embodiment, the tire sensor 302 may communicatetire sensor values to the controller 402. The tire sensor 302 maycommunicate a signal to the controller 402 that is representative of thetire pressure or the deflection of the tire. In this non-exclusiveexample, the tire sensor 302 may be utilized by the controller 402 toidentify a load acting on the tire. More specifically, the controller402 may utilize the tire sensor 302 to identify when the tire iscontacting the ground. For example, the controller 402 may establish aloaded tire pressure of the corresponding tire. When the controller 402identifies the loaded tire pressure with the tire sensor 302, thecontroller 402 may determine that the corresponding tire is contactingan underlying surface 304. Alternatively, when the controller 402identifies a tire pressure less than the loaded tire pressure threshold,the controller 402 may determine that the corresponding tire is notcontacting the underlying surface 304.

Similarly, the tire sensor 302 may be a deflection sensor thatidentifies to the controller 402 when the corresponding tire is beingdeflected by the underlying surface 304. The controller 402 may utilizethe deflection reading from the tire sensor 302 to determine when thecorresponding tire is substantially contacting the underlying surface.In one example of this embodiment, when the controller 402 does notidentify substantial deflection in the tire with the corresponding tiresensor 302, the controller 402 determines that tire is raised from theunderlying surface 304.

The implement 300 may also have a wheel load sensor 306 positionedbetween the pair of wheels 118, 120, 130, 136 and the correspondingframe section 102, 104, 106. The wheel load sensor 306 may be a straingauge or the like sensor that communicates a signal to the controller402 that indicates a load applied by the pair of wheels 118, 120, 130,136 to the corresponding frame section 102, 104, 106. In onenon-limiting example, the wheel load sensor 306 may positioned on astructural component that couples the wheels to the corresponding frame.

In another example, the wheel load sensor 306 may be coupled to anactuator that is positioned to adjust the location of the correspondingpair of wheels 118, 120, 130, 136. In this configuration the wheel loadsensor 306 may be a pressure sensor that communicates a pressure to thecontroller 402. The controller 402 can identify when a load is beingapplied to the corresponding pair of wheels 118, 120, 130, 136 based onthe pressure identified by the wheel load sensor 306. In onenon-exclusive example of this embodiment, the controller 402 may have aloaded wheel pressure threshold stored therein. When the wheel loadsensor 306 identifies a pressure value from the actuator that is notwithin the loaded wheel pressure threshold, the controller 402determines that the corresponding pair of wheels 118, 120, 130, 136 arenot substantially contacting the underlying surface.

In yet another embodiment the controller 402 may monitor the first andsecond side actuators 160, 162. One example of this embodiment, eachactuator 160, 162 may have a shaft side sensor 308 or a base side sensor310 fluidly coupled to corresponding chambers of the actuators 160, 162.The shaft side sensors 308 may identify a retraction pressure of thecorresponding actuators 160, 162 and the base side sensors 310 mayidentify an extension pressure of the corresponding actuators 160, 162.The sensors 308, 310 may be positioned at opposing chambers of thecylinders in actuators 160, 162 and separated by a piston as is known inthe art.

In the configuration having shaft side sensors 308 or base side sensors310 on the actuators 160, 162, the pressures identified in the sensors308, 310 may be interpreted by the controller 402 to identify the loadon the corresponding frame section 104, 106. More specifically, anactuator pressure threshold may be stored in the controller 402. Theactuator pressure threshold may be a pressure value stored in thecorresponding chamber of the actuator 160, 162 that is expected when theimplement is properly engaging the underlying surface 304 with the worktools 152, 154, 156, 158. The pressure values identified by the sensors308, 310 may be compared to the actuator pressure threshold to determinewhether the implement is properly engaging the underlying surface 304.

In another embodiment of the present invention, the actuators 160, 162may have a displacement sensor or the like coupled thereto to identifythe length of the corresponding actuators 160, 162. The displacementsensor may identify the displacement of the shaft relative to thecylinder of each actuator 160, 162. In turn, the controller 402 maystore therein the mounting locations of the actuators 160, 162 and beable to determine the orientation of the first and second frame sections104, 106 relative to the central frame section 102 based on the value ofthe displacement of the actuators 160, 162 and the known geometry of theimplement. Accordingly, in this embodiment the controller 402 may havedisplacement thresholds stored therein that correlate with situationswhen the implement 100 is properly engaging the underlying surface 304with the wheels 118, 120, 130, 136 and the work tools 152, 154, 156,158. In this configuration, the controller can and compare thedisplacement values identified by the displacement sensor with thedisplacement threshold to determine whether the frame sections 104, 106are properly oriented with the central fame section 102.

In yet another embodiment of the present disclosure, the shafts of theactuators may have strain gauges 312 or other similar sensors positionedthereon. The strain gauges 312 may communicate with the controller 402to identify the load being transferred between the actuator 160, 162 andthe corresponding frame section 104, 106. In one example of thisembodiment, the controller 402 may store an actuator strain thresholdtherein that indicates the frame sections 104, 106 are properly engagingthe underlying surface 304. In this embodiment, the controller 402 maymonitor the strain gauges 312 and identify when the strain gauges 312indicate values that are not within the actuator strain threshold.

Referring now to FIG. 4, one non-limiting example of the components of acontrol system 400 are illustrated. The control system 400 may have thecontroller 402 in communication with a plurality of sensors 404, a userinterface 406, and a position control system 408 among other things. Thecontroller 402 may have a memory unit and processor. The term controlleris used herein to refer to one or more controller and is not limited toembodiments where only one controller is executing the functionsdescribed herein. More specifically, in one embodiment the controller402 is a plurality of controllers stored in different locations. Furtherstill, the memory unit of the controller 402 may be located as acomponent of the controller 402 or the controller 402 may access thememory unit from a remote location. Accordingly, this disclosurecontemplates any controller, memory unit, and processing configurationknown in the art, and the specific examples described herein are usedfor exemplary purposes.

The plurality of sensors 404 may include one or more of the tire sensor302, the wheel load sensor 306, the shaft side sensor 308, the base sidesensor 310, the strain gauge 312, or any other sensor 410 configured toidentify the load condition of the implement 100. While many differentsensors are illustrated in the plurality of sensors 404, this disclosureconsiders embodiments wherein any combination of the plurality ofsensors 404 are in communication with the controller 402, includingembodiments where the plurality of sensors 404 is only one of thesensors disclosed herein.

The plurality of sensors 404 may communicate with the controller usingany communication protocol known in the art. More specifically, theplurality of sensors 404 may be in electrical communication with thecontroller through a wire harness or the like. In this configuration,the plurality of sensors 404 may transmit an electrical signal to thecontroller 402 through the wire harness. The electrical signal may beinterpreted by the controller to indicate a corresponding value of thesensor as is known in the art. Alternatively, the plurality of sensors404 may communicate with the controller 402 using any wireless protocolknown in the art. In this configuration, the plurality of sensors 404may not be electrically coupled to the controller 402 at all, but rathertransmit the sensor reading to the controller 402 wirelessly.

The wireless configuration of the plurality of sensors 404 and thecontroller 402 contemplates embodiments where the controller 402 islocated remotely from the plurality of sensors 404. More specifically,in one embodiment the plurality of sensors 404 may be located on theimplement 100 while the controller 402 is located on a tractor. In otherembodiments, the controller 402 may be located in an entirely separatelocation from the plurality of sensors 404. Accordingly, this disclosurecontemplates many different communication protocols between thecontroller 402 and the plurality of sensors 404 and the specificembodiments used herein are meant only to be exemplary and notexclusive.

The plurality of sensors 404 may be any type of sensor capable ofperforming the functions described herein. For example, referring to thetire sensor 302, a person skilled in the relevant art understands themany different types of tire sensors that can be utilized to identifythe pressure or deflection of a tire. Further, the wheel load sensor 306and strain gauge 312 may be any sensor known in the art for identifyinga load on a member. Similarly, the shaft side sensor 308 and the baseside sensor 310 may be any sensor known in the art able to identify afluid pressure. Accordingly, this disclosure considers any sensor knownin the art that is capable of identifying the described information.

The user interface 406 may be any user interface known in the art. Forexample, in one non-exclusive embodiment the user interface is anindicator light or speaker that can provide visual or audiblecommunication to the user. In another embodiment, the user interface 406is a control monitor or the like that is capable of providing textualand graphical signals to the user. The user interface may also containuser inputs such as buttons or a touchscreen that allow the user toinput signals to the controller 402. A person skilled in the artunderstands the many different types of user interfaces that could beused to implement the teachings of this disclosure and this disclosureconsiders other embodiments of a user interface not expressly discussedherein.

The position control system 408 may be a hydraulic, pneumatic, electric,or like system that can reposition the components of the implement. Morespecifically, in one embodiment, the position control system 408contains linear actuators for the first and second side actuators 160,162. In this configuration, the position control system 408 alter thepositioning of the linear actuators to reposition the correspondingfirst and second frame sections 104, 106 relative to the central framesection 102. The position control system 408 may also control wheelactuators 122, 124, 132, 138 to reposition the corresponding wheels 118,120, 130, 136 relative to the corresponding implement frame. Furtherstill, the position control system 408 may also reposition the toolactuators 208. In yet another example, the position control system 408may control the fore-aft actuator 176.

The position control system 408 may be an electric, electro-hydraulic,electro-pneumatic, or the like system wherein the controller 402 directsthe movement of the actuators. Accordingly, the controller 402 may sendcommands to the position control system 408 to reposition thecorresponding components of the implement responsive to a user input orthe values identified by one or more of the plurality of sensors 404.

Referring now to FIG. 5, one non-exclusive example of an implementcontrol logic 500 is illustrated. The control logic 500 may be executedby the controller 402. However, the control logic 500 may also beimplemented in part by multiple controllers as described above, and thisdisclosure considers any number of controllers for implementing thecontrol logic 500.

In one aspect of this disclosure, the control logic 500 may beconfigured to identify when a desired tool depth 314 is not beingproperly applied across the implement. More specifically, the controller402 may monitor the tire sensors 302 to identify when the correspondingtires are not experiencing an expected load. As one non-limitingexample, when the implement is properly engaging the underlying surfaceeach of the tires will be experiencing at least a slight load. However,under certain circumstances the desired tool depth 314 may be too greatfor the conditions of the underlying surface 304 and thereby cause theimplement to travel on the ground working tools (e.g. any one or more oftools 152, 154, 156, 158, 170, 172, 174, 203, 226, 270, collectivelyworking tools 316) and substantially reduce the load experienced on theadjacent tire or tires.

In one non-exclusive example, the underlying surface 304 may be very dryand hard and thereby substantially restrict the ground working toolsfrom becoming positioned in a desired depth 314. In this situation, theunderlying surface is too hard and the ground working tools may not beable to penetrate the underlying surface to become positioned at thedesired tool depth 314. In this scenario, the resistance between theground working tools and the underlying surface 304 may affect the loadexperienced by the corresponding wheel or wheels.

In one non-exclusive example, the interaction between the ground workingtools and the underlying surface 304 may elevate the corresponding wheelor wheels off the underlying surface 304. Accordingly, one aspect ofthis disclosure considers monitoring one or more tire sensor 302 toidentify when the ground working tools are not properly positioned inthe desired tool depth 314.

The implement control logic 500 may identify when a maximum tool depthis achieve by monitoring the tire sensors 302. More specifically, thecontroller 402 may first identify a desired tool depth in box 502. Thedesired tool depth may be identified from the user interface 406 or anyother known method of selecting a tool depth. In one embodiment, thetool depth is input on a touchscreen device wherein the user selects orotherwise inputs the desired tool depth of the ground working tools. Thedesired tool depth may be identified as a distance measurement relativeto the top plane of the underlying surface 304. In one non-exclusiveexample, the desired tool depth may be in inches, centimeters, or anyother known measurement unit.

While the desired tool depth 314 is discussed herein as being identifiedfrom the user interface 406, other embodiments may not utilize the userinterface 406 to set the desired tool depth 314 at all. Morespecifically, one embodiment of the present disclosure may involve theuser manually adjusting the desired tool depth 314 of the implement.Accordingly, this disclosure considers both embodiments where thedesired tool depth 314 is applied by the controller 402 with theposition control system 408 and embodiments where the user applies thedesired tool depth 314 manually.

In the embodiments utilizing the position control system 408 toimplement the desired tool depth 314, the controller 402 may manipulatethe position control system 408 to become oriented in the desired tooldepth in box 504. More specifically, in this step the controller 402 maymanipulate the wheel actuators 122, 124, 132, 138 to reposition thecorresponding wheels 118, 120, 130, 136 relative to the correspondingimplement frame 102, 104, 106. In turn, the effective penetration of theworking tools on the underlying surface may be altered accordingly. Thecontroller 402 may reposition the wheel actuators 122, 124, 132, 138 toa position that allows the working tools 316 to become oriented at thedesired tool depth 314 under ideal conditions.

After the implement is oriented in the desired tool depth 314, thecontroller 402 may monitor the tire sensors 302 to determine thedeflection or pressure in each of the tires on the implement in box 506.While one embodiment may utilize a tire sensor 302 in each of the tiresof the wheels 118, 120, 130, 136, another embodiment may utilize tiresensors 302 in select tires of wheel 118, 120, 130, 136. In either case,the tire sensors 302 may be positioned to determine the load beingapplied to the tires across the width of the implement. In onnon-exclusive example, at least one tire sensor 302 is coupled to a tireon each of the central frame section 102, the first frame section 104,and the second frame section 106.

In box 508, the controller 402 may compare the values identified by thetire sensors 302 in box 506 to a tire sensor threshold. The tire sensorthreshold may be a tire pressure value that is expected when the tire isexperiencing a minimum load applied from the frame of the implement. Inother words, the tire sensor threshold may be a tire pressure value thatis expected when the corresponding tire is in contact with theunderlying surface.

Alternatively, or in addition to the pressure value reading, box 508 maycompare a tire deflection identified in box 506 with a deflectionthreshold value. The deflection threshold value may be representative ofthe expected tire deflection when the tire is contacting the underlyingsurface 304. In this embodiment, when the load being applied to the tireis substantially reduced, indicating the tire is not substantiallycontacting the underlying surface 304, the tire deflection identified bythe tire sensor 302 may not be within the deflection threshold value.

The controller 402 may compare each tire sensor 302 to the correspondingthreshold values in box 510. More specifically, the tire pressure ordeflection may be compared to a corresponding threshold value for eachof the tire sensors 302. In box 510, the controller 402 may determinewhether the tire sensors 302 are indicating values within thethresholds. If the tire sensors 302 are indicating values within thecorresponding thresholds, the controller 402 determines that thecorresponding tires are in proper contact with the underlying surface304 and the desired tool depth 314 is therefore being achieved.Accordingly, if the tire sensor 302 values are within the correspondingthreshold values the controller 402 may return to box 502 and continueexecuting boxes 502-510 based on any desired frequency to continuallymonitor the tire sensors 302 as a work operation is performed.

However, if the controller 402 identifies one or more tire sensor 302value that is not within the corresponding threshold, the controller 402may send a signal to the user interface 406 or the like in box 512 toindicate to the user the desired tool depth 314 is not properlyimplemented. More specifically, when one of the tire sensors 302indicates a value that is not within the corresponding threshold value,the controller 402 determines that the tire is not properly contactingthe underlying surface 304. This may occur when the working tools 316are not properly penetrating the underlying surface 304 and therebymoving the corresponding tire away from the underlying surface 304.

In one embodiment of this disclosure, a closed loop system 520 may beimplemented herein. In the closed loop system 520, the controller 402may monitor the tire sensor 302 values and compare them to thecorresponding thresholds as described above. When a tire sensor 302indicates a value outside of the corresponding threshold value, thecontroller 402 may only execute box 512 and provide an indication to theuser that the desired tool depth is not being properly implemented. Inthe closed loop 520 embodiment, the user may then adjust the desiredtool depth or other components of the implement until the controller 402identifies all of the tire sensor 302 values are within the desiredthresholds.

A person skilled in the art understands the many ways an implement maybe adjusted to increase the downforce applied in any given section, andthe closed loop 520 system considers any form of adjustment that may beimplemented by a user to address the section of the implement that isnot properly contacting the underlying surface. More specifically, inone non-exclusive example the user may add weights to the correspondingsection instead of adjusting the desired tool depth. Further, the usermay manipulate the position control system 408 to adjust the implementto address the area identified by the controller in box 512. In anothernon-exclusive example, the user may adjust the positioning of the firstor second actuator 160, 162 to address the section of the implement thatis not within the threshold value. In yet another embodiment, the usermay disengage several of the ground working tools 316 so the remainingtools may become properly positioned within the underlying surface 304at the desired tool depth. Accordingly, this disclosure considers anyknown implement adjustment technique that provides increased down forceon some or all of the ground working tools 316.

Another embodiment of the present disclosure includes an open loopoption 522. The open loop option 522 may be implemented after the signalis sent to the user interface 406 in box 512 or it may not send a signalto the user interface 406 at all and box 514 may be implementedimmediately after box 510. The open loop option 522 may be automaticallyimplemented by the controller 402 to evenly distribute the loads acrossthe implement. More specifically, when the controller 402 identifies atire sensor 302 value that is not within the threshold in box 510, thecontroller 402 may automatically adjust the position control system 408to redistribute the weight of the implement over the tire proximate tothe tire sensor 302 indicating an out of threshold tire sensor value.

In one aspect of the open loop option 522, the controller 402 maydetermine whether the position control system 408 is further adjustableto provide additional downforce on the implement to the area proximateto the tire sensor 302 in box 514. If the position control system 408 isnot further adjustable, the controller 402 may send a desired tool deptherror signal to the user interface 406 in box 516. The controller 402may implement box 516 when the position control system 408 cannot befurther adjusted by the controller 402 to address the area that the tiresensor 302 indicates is not within the threshold value.

In one non-exclusive example, a tire on the third pair of wheels 130 ofthe first frame section 104 may have a tire sensor 302 value that is notwithin the threshold value. The controller 402 may have already extendedthe first side actuator 160 to a maximum extension or applied a maximumfluid pressure wherein the controller 402 cannot provide any additionaldownforce to the tire on the third pair of wheels 130. In this scenario,the controller 402 identifies in box 514 that the position controlsystem 408 cannot be further adjusted to address the discrepancyidentified by the tire sensor 302 and the controller 402 sends an errorto the user in box 516.

In another example, the controller 402 may identify that providingadditional downforce to one of the first or second frame sections 104,106 with the corresponding actuator 160, 162 will cause the tires of thecentral frame section 102 to become displaced from the underlyingsurface 304. In this situation, the position control system 408 may havecapacity to apply further downforce at the tire sensor 302 that is outof threshold but the controller 402 will identify that doing so willcause one or more of the tire sensors 302 of the central frame section102 to move out of the threshold range. Accordingly, in this scenariothe controller 402 will determine that the position control system 408has no further adjustment capacity and the controller 402 will implementbox 516.

As described above, the position control system 408 may utilize any ofthe actuators of the implement described herein, including, but notlimited to, the first and second side actuators 160, 162, the fore-aftactuator 176, the tool actuators 208, the first and second actuators222, 224, or any other moveable component of the implement. In onenonexclusive example, a weight may be coupled to the implement andmoveable via actuators or the like with the controller 402. The weightmay be selectively repositionable on the implement to provide additionaldownforce to selected areas of the implement. Accordingly, thisdisclosure considers many different embodiments of a position controlsystem 408.

If the controller 402 identifies that the position control system 408has more capacity to provide additional downforce at the location of thetire sensor 302 that is not within the threshold, the controller 402 mayimplement box 518. In box 518, the controller 402 adjusts the positioncontrol system 408 to provide additional downforce to the location thatis indicating a tire sensor 302 value outside of the threshold. In onenon-exclusive example, a tire on the third pair of wheels 130 of thefirst frame section 104 may have a tire sensor 302 value that is notwithin the threshold value. In box 518, the controller 402 may extendthe first side actuator 160 to provide additional downforce to the thirdpair of wheels 130 and monitor the tire sensor 302 values. Thecontroller 402 may continue to adjust the first side actuator 160 untilthe tire sensor 302 value of the third pair of wheels 130 is within thethreshold range. Alternatively, the controller 402 may reach a positionwhere the position control system 408 is not further adjustable asdescribed above and the controller 402 implements box 516.

As described above, box 518 can implement any known method of increasingthe downforce of a given area. Including manipulating hydraulic,pneumatic, electric actuators, moving weighted members positioned on theimplement, and modifying which ground working implements contact theunderlying surface to name a few non-exclusive examples.

While manipulating the first side actuator 160 is described in detailabove, this disclosure contemplates manipulating any of the actuators160, 162, 176, 208 described herein that are capable of providingadditional downforce to a given section of the implement. The controller402 may have responses stored therein where each region of the implementthat may be out of threshold has an assigned response that thecontroller 402 may implement with the position control system 408 toincrease the downforce of the out of threshold region.

More specifically, if the second frame section 106 has a tire sensor 302out of threshold, the controller 402 may apply more pressure to the baseend of the second actuator 162 or otherwise extend the second actuator162 to apply greater downforce to the second frame section 106.Similarly, if an aft region of the implement indicates a tire sensorvalue that is out of threshold, the controller 402 may apply morepressure to the base end of the fore-aft actuator 176 or otherwiseextend the actuator 176 to apply greater downforce to the aft portion ofthe implement.

In one non-exclusive example, the controller 402 may move a weight alongthe implement to be positioned proximate to the tire sensor 302 that isnot within the threshold value. In this embodiment, a weighted sled orthe like may be slidably positioned on a top portion of the implementand moveable therealong with actuators or the like. The controller 402may address the out of threshold sensor by positioning the weighted sledover the out of threshold sensor to increase the downforce appliedthereto.

In yet another embodiment of the present disclosure, the controller 402may disengage select working tools 316 from the underlying surface 304to allow a greater downforce to the implement. As one non-exclusiveexample of this embodiment, the rear attachments 170, 172, 174 may beraised off the underlying surface responsive to a sensor being out ofthreshold. The controller 402 may send a command to an actuator or thelike positioned along the rear attachments 170, 172, 174 to raise thecorresponding attachment when a sensor is out of threshold. In anothernon-exclusive example, the controller 402 may adjust the tool angle 214,216 with the front tool actuator 208 to an angle that provides lessresistance from the underlying surface responsive to a sensor indicatingvalues out of threshold.

In one aspect of this disclosure, the user may identify a priority inwhich the controller 402 responds to a sensor value out of the thresholdvalue. In this example, the user may utilize inputs of the userinterface 406 to establish in what order the controller 402 shouldadjust the position control system 408. In one non-exclusive example,the user may establish that the controller 402 should first utilize theactuators 160, 162 to address the section of the implement that is outof the threshold. If adjusting the actuators 160, 162 doesn't work, thecontroller 402 may adjust the tool angle 214, 216. If the correspondingsensor still indicates a value out of threshold, the controller 402 mayraise the rear attachments 170, 172, 174.

The user may establish any priority sequence that implements any of themethods described herein for increasing the down force of a given area,and the above example is meant only to be one example of such anembodiment. Accordingly, this disclosure considers any priority sequenceof the methods described herein for increasing the downforce.

In one aspect of this disclosure, the controller 402 may automaticallyset a shallower desired working tool depth in box 516. Morespecifically, in box 516 the controller has identified that theimplement is not properly engaging the underlying surface 304 and theposition control system 408 does not have any more capacity to increasethe downforce on the affected areas of the implement. In this situation,the controller 402 may automatically reduce the desired tool depth to atool depth that allows each of the tire sensors 302 to indicate valueswithin the threshold stored in the controller 402. In other words, thecontroller 402 identifies that the user has requested a desired tooldepth that is not possible with the current implement configuration andthe condition of the underlying surface 304 and the controller 402reduces the desired tool depth 314 to a value that can be properlyimplemented.

In one non-exclusive example, the controller 402 may automaticallyadjust the desired tool depth 314 in box 516 as described above. In thissituation, the controller 402 may send a signal to the user interface406 identifying that the desired tool depth has changed. Alternatively,the controller 402 may send a signal to the user interface 406indicating that the desired tool depth 314 should be reduced in order toallow the implement to properly engage the underlying surface 304. Theuser may then choose to adjust the desired tool depth 314 or continuewith the desired tool depth that is not properly engaging the underlyingsurface across the implement.

Referring now to FIG. 6, another embodiment of implement control logic600 is illustrated. The implement control logic 600 of FIG. 6 may besubstantially similar to that of the embodiment described with referenceto FIG. 5 with the exception of boxes 602, 604, and 606. Morespecifically, the implement control logic 600 may function similarly tothat described above but utilize the wheel load sensors 306 to compare awheel load sensor 306 value to a wheel load threshold in boxes 602, 604,606 instead of utilizing the tire sensors 302 described above.Accordingly, the above description for the implement control logic 500is hereby incorporated herein with the wheel load sensors 306 replacingthe portions referring to the tire sensors 302 and the correspondingthreshold values.

In the implement control logic 600, the wheel load sensors 306 may bemonitored by the controller 402 in box 602 to identify the load appliedon the corresponding pair of wheels 118, 120, 130, 136. As describedabove, the wheel load sensors 306 may be positioned along a structuralcomponent that couples the wheels to the frame such as an axle or therock shaft. Accordingly, the load applied to the frame from the wheelsis identified by the wheel load sensors 306. The wheel load sensors 306may be strain gauges or the like and are monitored by the controller 402in a similar way as the tire sensors 302 described above.

The controller 402 may compare the wheel load sensor 306 value to awheel load threshold in box 604. The wheel load threshold may be apre-set value stored in the controller 402 that corresponds with theexpected load on the wheels when the wheels are properly engaging theunderlying surface 304. In one non-exclusive example, the wheel loadthreshold may be a value that indicates the corresponding wheels aresubstantially contacting the underlying surface 304. In other words,when the wheel load sensor 306 value is not within the wheel loadthreshold, the ground working tools 316 are substantially lifting thecorrespond wheel or wheels off the underlying surface 304.

In box 606, the controller 402 determines whether each of the wheel loadsensor 306 values are within the wheel load threshold. There can be anynumber of wheel load sensors 306 positioned throughout the implement andthis disclosure considers positioning a wheel load sensor 306 at onlysome or all locations of an implement that has wheels or other groundengaging mechanism meant to move along the underlying surface 304. Thecontroller logic 600 may also have the closed loop 520 or open loop 522options described above with reference to FIG. 5. Further, the open loop522 may identify if the position control system has any more capacity inbox 514 and either send the error signal from box 516, adjust thedesired tool depth to a value that is attainable, or adjust the weightdistribution with the position control system 408 in box 518.

Accordingly, in one aspect of this disclosure the control logic 600 maybe substantially the same as the control logic 500 except the load beingapplied through the interaction of the tires with the underlying surfaceis determined utilizing sensors located on different portions of theimplement. While specific examples of sensor locations have beendescribed herein, these examples are meant to be illustrative and thisdisclosure considers implementing other sensors and locations as well.

Referring now to FIG. 7, yet another embodiment of implement controllogic 700 is illustrated. The implement control logic 700 of FIG. 7 maybe substantially similar to that of the embodiment described withreference to FIG. 5 with the exception of boxes 702, 704, and 706. Morespecifically, the implement control logic 700 may function similarly tothat described above but utilize one or more of the actuator sensors308, 310, 312 to compare an actuator sensor 308, 310, 312 value to anactuator load threshold in boxes 602, 604, 606 instead of utilizing thetire sensors 302 described above. Accordingly, the above description forthe implement control logic 500 is hereby incorporated herein with theactuator sensors 308, 310, 312 replacing the portions referring to thetire sensors 302 and the corresponding threshold values.

In one embodiment of the implement control logic 700, one or both of theshaft side sensor 308 and the base side sensor 310 may be monitored bythe controller 402 in box 702 to identify the load applied to thecorresponding first or second frame section 104, 106. As describedabove, the shaft side sensor 308 may be fluidly coupled to a shaft sideof each cylinder for the first or second actuator 160, 162. Similarly,the base side sensor 310 may be fluidly coupled to a base side of eachcylinder for the first and second actuator 160, 162. Further, a shaftside sensor 308 and a base side sensor 310 may be fluidly coupled toeach of the actuators 160, 162 to identify a fluid pressure associatedwith the corresponding chambers of the actuators 160, 162. Accordingly,the load applied to the corresponding first and second frame sections104, 106 may be identified by monitoring the fluid pressures with theshaft side sensors 308 and the base side sensors 310.

In another embodiment of the implement control logic 700, a strain gauge312 is positioned on the shaft of each actuator 160, 162 and may bemonitored by the controller 402 in box 702 to identify the load appliedto the corresponding first or second frame section 104, 106. The straingauges 312 may be coupled to the shaft of the actuators 160, 162 toidentify a strain or other load being transferred through the actuators160, 162. Accordingly, the load applied to the corresponding first andsecond frame sections 104, 106 may be identified by monitoring thestrain gauge 312 values.

Regardless of the sensor used to identify the load being transferredthrough the actuators 160, 162, the controller 402 may compare theactuator sensor 308, 310, 312 value to an actuator threshold in box 704.The actuator threshold may be a pre-set value stored in the controller402 that corresponds with the expected load or pressure applied to thecorresponding actuators 160, 162 when the wheels and ground workingtools 316 are properly engaging the underlying surface 304. In onenon-exclusive example, the actuator threshold may be a value thatindicates the corresponding wheels of the frame sections 104, 106 aresubstantially contacting the underlying surface 304. In other words,when the actuator sensor 308, 310, 312 value is not within the actuatorthreshold, the ground engaging tools are substantially lifting thecorresponding wheel or wheels of the first or second frame section 104,106 off the underlying surface 304.

In box 706, the controller 402 determines whether one or more of theactuator sensor 308, 310, 312 values are within the actuator threshold.The controller 402 may compare any one of the actuator sensors 308, 310,312 to a corresponding actuator threshold in box 706. Further, thecontroller 402 may compare each of the actuator sensors 308, 310, 312 toa corresponding threshold in box 706. Further still, the controller 402may compare any combination of the actuator sensors 308, 310, 312 tocorresponding actuator thresholds in box 706. A person having skill inthe relevant art of this disclosure understands the many differentsensors and methods that can be used to identify the load beingdistributed through an actuator, and this disclosure considers allmethods and sensors known in the art at the time of the disclosure.

The controller logic 700 may also have the closed loop 520 or open loop522 options described above with reference to FIG. 5. Further, the openloop 522 may identify if the position control system has any morecapacity in box 514 and either send the error signal from box 516,adjust the desired tool depth to a value that is attainable, or adjustthe weight distribution with the position control system 408 in box 518.

Accordingly, in one aspect of this disclosure the control logic 700 maybe substantially the same as the control logic 500 except the load beingapplied through the interaction of the tires with the underlying surfaceis determined utilizing sensors located on different portions of theimplement such as the actuators 160, 162. While specific examples ofsensor locations have been described herein, these examples are meant tobe illustrative and this disclosure considers implementing other sensorsand locations as well.

While embodiments incorporating the principles of the present disclosurehave been described hereinabove, the present disclosure is not limitedto the described embodiments. Instead, this application is intended tocover any variations, uses, or adaptations of the disclosure using itsgeneral principles. Further, this application is intended to cover suchdepartures from the present disclosure as come within known or customarypractice in the art to which this disclosure pertains and which fallwithin the limits of the appended claims.

1. An implement, comprising: a ground engaging mechanism; a loadidentifying sensor that identifies a load value acting on the groundengaging mechanism; and a controller in communication with the loadidentifying sensor; wherein, when the load value is not within a loadthreshold, the controller initiates a response.
 2. The implement ofclaim 1, further comprising a hydraulic system, wherein the loadidentifying sensor is a pressure sensor that identifies a pressure ofthe hydraulic system to determine the load value.
 3. The implement ofclaim 1, further wherein the ground engaging mechanism is a tire and theload identifying sensor is a tire pressure sensor that is monitored bythe controller to determine the load value.
 4. The implement of claim 1,further wherein the ground engaging mechanism is a tire and the loadidentifying sensor is a tire deflection sensor that is monitored by thecontroller to determine the load value.
 5. The implement of claim 1,further wherein the load identifying sensor is strain gauge positionedto identify a load on the ground engaging mechanism, wherein the straingauge is monitored by the controller to determine the load value.
 6. Theimplement of claim 1, further wherein the response is a signal to a userthrough a user interface.
 7. The implement of claim 1, furthercomprising a hydraulic system that repositions a first frame memberrelative to a second frame member, the hydraulic system in communicationwith the controller, wherein the response is a repositioning of thefirst frame member relative to the second frame member with thehydraulic system.
 8. The implement of claim 1, further comprising aplurality of ground working mechanisms coupled to the implement, whereinthe response is raising one or more of the ground working mechanism. 9.A system for monitoring engagement of an implement with an underlyingsurface, comprising: a first frame segment; a second frame segmentpivotally coupled to the first frame segment; a positioning systemcoupled to the first frame segment and the second frame segment, thepositioning system configured to reposition the second frame segmentrelative to the first frame segment; a load sensor that identifies aload value acting on the second frame segment; and a controller incommunication with the load sensor and the positioning system; wherein,when the load value is not within a load threshold, the controllerinitiates a response.
 10. The system for monitoring engagement of theimplement of claim 9, further wherein the positioning system is ahydraulic system and the load value is a hydraulic pressure.
 11. Thesystem for monitoring engagement of the implement of claim 9, furtherwherein the response initiated by the controller includes manipulatingthe orientation of the second segment relative to the first segment withthe positioning system.
 12. The system for monitoring engagement of theimplement of claim 11, further comprising manipulating the orientationof the second segment relative to the first segment until the load valueis within the load threshold.
 13. The system for monitoring engagementof the implement of claim 9, further comprising a ground engagingmechanism coupled to the second frame segment, wherein the load sensoris coupled to the ground engaging mechanism.
 14. The system formonitoring engagement of the implement of claim 9, further comprising aplurality of ground working mechanisms, wherein the response initiatedby the controller includes raising at least one ground workingmechanism.
 15. The system for monitoring engagement of the implement ofclaim 9, further comprising a ground working mechanism having a toolangle, wherein the response initiated by the controller includeschanging the tool angle of the ground working mechanism.
 16. The systemfor monitoring engagement of the implement of claim 9, further whereinthe response initiated by the controller includes providing anindication with a user interface.
 17. A method of controlling the heightof an implement over an underlying surface, comprising: providing aground engaging mechanism, a load identifying sensor, and a controllerin communication with the load identifying sensor; storing, in thecontroller, a load value threshold; monitoring, with the controllerusing the load identifying sensor, a load acting on the ground engagingmechanism; and initiating a response, with the controller, when the loadacting on the ground engaging mechanism is not within the load valuethreshold.
 18. The method of controlling the height of an implement ofclaim 17, further comprising controlling an implement tool depth, withthe controller, and reducing the implement tool depth during theinitiating the response step.
 19. The method of controlling the heightof an implement of claim 17, further comprising: providing a firstground working mechanism, a second ground working mechanism, and a userinterface, storing a user preference, in the controller through input onthe user interface, identifying a priority sequence for the first groundworking mechanism and the second ground working mechanism; altering theorientation of first ground working mechanism and the second groundworking mechanism in the priority sequence identified by the userpreference during the initiating the response step.
 20. The method ofcontrolling the height of an implement of claim 17, further comprising:providing a first frame segment and a second frame segment pivotallycoupled to one another with a hydraulic system; and applying increasedfluid pressure, with the controller, to the hydraulic system to increasethe torsional force applied between the first wing segment and thesecond wing segment as part of the initiating the response step.